DocumentCode
2536988
Title
Learning control and its optimality: Analysis and its application to controlling industrial robots
Author
Togai, Masaki ; Yamano, Osamu
Author_Institution
AT&T Bell Laboratories, Holmdel, N.J.
Volume
3
fYear
1986
fDate
31503
Firstpage
248
Lastpage
253
Abstract
An adaptive control scheme based on iterative signal synthesis is called "learning control." Stability condition for a discrete linear time-varying dynamic system is analyzed, and the explicit condition for asymptotical stability of the system is obtained. Then an optimization schemes are applied to the proposed learning system and the learning control law is uniquely identified. We apply the obtained condition to an industrial robot and discuss its performance.
Keywords
Adaptive control; Asymptotic stability; Electrical equipment industry; Industrial control; Optimal control; Robot control; Service robots; Signal synthesis; Stability analysis; Time varying systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087715
Filename
1087715
Link To Document